CN111792541A - 治具以及更换减速器的方法 - Google Patents

治具以及更换减速器的方法 Download PDF

Info

Publication number
CN111792541A
CN111792541A CN202010255648.9A CN202010255648A CN111792541A CN 111792541 A CN111792541 A CN 111792541A CN 202010255648 A CN202010255648 A CN 202010255648A CN 111792541 A CN111792541 A CN 111792541A
Authority
CN
China
Prior art keywords
speed reducer
jig
fixed
movable
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010255648.9A
Other languages
English (en)
Chinese (zh)
Inventor
堀米笃史
大江将司
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN111792541A publication Critical patent/CN111792541A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H2057/0062—Tools specially adapted for assembly of transmissions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
CN202010255648.9A 2019-04-04 2020-04-02 治具以及更换减速器的方法 Pending CN111792541A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019072307A JP7068224B2 (ja) 2019-04-04 2019-04-04 ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法
JP2019-072307 2019-04-04

Publications (1)

Publication Number Publication Date
CN111792541A true CN111792541A (zh) 2020-10-20

Family

ID=72518203

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010255648.9A Pending CN111792541A (zh) 2019-04-04 2020-04-02 治具以及更换减速器的方法

Country Status (4)

Country Link
US (1) US11698125B2 (ja)
JP (1) JP7068224B2 (ja)
CN (1) CN111792541A (ja)
DE (1) DE102020108674A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114789469A (zh) * 2021-01-25 2022-07-26 精工爱普生株式会社 机器人、安装方法、拆卸方法、固定部件以及维护系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7288159B1 (ja) * 2023-01-23 2023-06-06 ファナック株式会社 パラレルリンクロボットの組立方法、搬送方法、分解方法および組立セット
JP7290813B1 (ja) * 2023-01-23 2023-06-13 ファナック株式会社 パラレルリンクロボットの組立方法および分解方法
KR102551890B1 (ko) * 2023-03-16 2023-07-05 (주)수성하이테크 반도체 장비 구성에 대한 아크 스프레이 코팅을 위한 로봇 암 장치

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08313172A (ja) * 1995-05-16 1996-11-29 Sankyu Inc ホッパーライナ取替え方法及びその装置
US20040012363A1 (en) * 2002-03-20 2004-01-22 Fsi International, Inc. Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector
CN1706619A (zh) * 2004-06-11 2005-12-14 发那科株式会社 成型品取出装置
CN103029987A (zh) * 2011-10-03 2013-04-10 株式会社安川电机 机器人系统
US8464413B1 (en) * 2009-11-06 2013-06-18 Honda Motor Co., Ltd. Robot gear reducer replacing apparatus and method
CN104044136A (zh) * 2013-03-14 2014-09-17 株式会社安川电机 机器人系统、起重工具及搬运方法
CN104093529A (zh) * 2012-02-06 2014-10-08 库卡系统有限责任公司 联接装置
CN105666478A (zh) * 2016-04-15 2016-06-15 东莞理工学院 一种核辐射环境下的关节式机械臂快速拆装系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01295790A (ja) * 1988-05-20 1989-11-29 Mitsubishi Electric Corp 作業用ロボットの吊り上げ装置
JPH05116091A (ja) * 1991-10-25 1993-05-14 Toyoda Mach Works Ltd ロボツトの保守用具
JPH05318379A (ja) * 1992-03-19 1993-12-03 Toyoda Mach Works Ltd ロボットの保全工具
JP2002336307A (ja) 2001-05-14 2002-11-26 Glory Ltd 介護用移動補助装置
JP2004291116A (ja) 2003-03-26 2004-10-21 Nachi Fujikoshi Corp 産業用ロボットのアーム固定装置及び該アーム固定装置を装着可能にされた産業用ロボット
JP5949745B2 (ja) 2013-12-20 2016-07-13 株式会社安川電機 ロボットおよびロボットのメンテナンス方法
US10399212B2 (en) 2016-02-11 2019-09-03 GM Global Technology Operations LLC Fixture assembly for use in maintaining heavy equipment
JP6572254B2 (ja) 2017-05-02 2019-09-04 ファナック株式会社 アーム固定装置および減速機交換方法
JP6693982B2 (ja) 2018-02-23 2020-05-13 ファナック株式会社 物体の輸送に用いられる輸送具

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08313172A (ja) * 1995-05-16 1996-11-29 Sankyu Inc ホッパーライナ取替え方法及びその装置
US20040012363A1 (en) * 2002-03-20 2004-01-22 Fsi International, Inc. Systems and methods incorporating an end effector with a rotatable and/or pivotable body and/or an optical sensor having a light path that extends along a length of the end effector
CN1706619A (zh) * 2004-06-11 2005-12-14 发那科株式会社 成型品取出装置
US8464413B1 (en) * 2009-11-06 2013-06-18 Honda Motor Co., Ltd. Robot gear reducer replacing apparatus and method
CN103029987A (zh) * 2011-10-03 2013-04-10 株式会社安川电机 机器人系统
CN104093529A (zh) * 2012-02-06 2014-10-08 库卡系统有限责任公司 联接装置
CN104044136A (zh) * 2013-03-14 2014-09-17 株式会社安川电机 机器人系统、起重工具及搬运方法
CN105666478A (zh) * 2016-04-15 2016-06-15 东莞理工学院 一种核辐射环境下的关节式机械臂快速拆装系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114789469A (zh) * 2021-01-25 2022-07-26 精工爱普生株式会社 机器人、安装方法、拆卸方法、固定部件以及维护系统
CN114789469B (zh) * 2021-01-25 2023-12-01 精工爱普生株式会社 机器人、安装方法、拆卸方法、固定部件以及维护系统

Also Published As

Publication number Publication date
DE102020108674A1 (de) 2020-10-08
JP7068224B2 (ja) 2022-05-16
US20200318726A1 (en) 2020-10-08
US11698125B2 (en) 2023-07-11
JP2020168697A (ja) 2020-10-15

Similar Documents

Publication Publication Date Title
CN111792541A (zh) 治具以及更换减速器的方法
US20130013109A1 (en) Method And Handling System For Automatically Moving A Gravity-Compensated Load Body
JP2013091121A (ja) ロボットハンド用交換爪モジュール
JPH0248186A (ja) 水平関節形ロボット
US10751870B2 (en) Guide assembly and tool system for rotatably balancing a tool and a method for operating the same
JP4985614B2 (ja) ロボット
CN107000212B (zh) 自动物体搬送系统
CN110311344B (zh) 电缆夹以及机器人
CN215618153U (zh) 一种行程可调机械抓手
US20120111843A1 (en) Mobile, climbing robotic system to perform remote welds on ferrous materials
CN108453715B (zh) 输送用工具
KR20170081577A (ko) 갠트리 로더
CA2663570A1 (fr) Station de travail avec support de pieces multiface et procede de pilotage d'une telle station
KR20170081968A (ko) 갠트리 로더
JP2020179444A (ja) ロボットのメンテナンス装置およびロボットのメンテナンス方法
US10989282B1 (en) Constant force robotic dresspack
KR101012560B1 (ko) 전극판 반송 장치
US7922439B2 (en) Industrial robot
CN116946891A (zh) 一种带有磁吸机构的起重机
CN114453735A (zh) 一种机器人焊接手臂
KR101079142B1 (ko) 자동화 가공 장치
CN214518061U (zh) 一种倒挂式焊接机器人的八轴作业结构
US11130207B2 (en) Transport tool used for transporting object
KR100872095B1 (ko) 자동화장비 탈부착용 장치
JPS6114081A (ja) 溶接用マニピユレータ

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination